Artisti Humanoid Team for RoboCup 2007

In this paper, we describe the hardware and software design of the two humanoid robots of the team Artisti. The robots are called Galileo and Leonardo. They are fully autonomous humanoid robots, based on the Robovie-M platform of VStone. They has low computational power, low resolution camera and low memory space. The robot vision system uses a low resolution camera working in QVGA mode. We devoted many efforts to the problem of QVGA pattern demosaicing in order to obtain better image reconstruction. Our intention is to use omnidirectional camera as unique sensor. The decisional architecture is deliberative and the robots can communicate (using Bluetooth) in order to exhibit team coordination with role swapping. These approaches are based on the techniques we developed for the Artisti Veneti Team, our team in the Middle Size League.